| Autor: |
Shou-wen Fan, Li-Ju Xu, Yong Chen |
| Rok vydání: |
1992 |
| Předmět: |
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| Zdroj: |
18th Design Automation Conference: Volume 2 — Geometric Modeling, Mechanisms, and Mechanical Systems Analysis. |
| DOI: |
10.1115/detc1992-0179 |
| Popis: |
A simple numeric-symbolic method for dynamic modelling of robotic manipulators is proposed in this paper. Problem of deriving model matrix elements is transformed into problem of solving for driving force and driving torque under specified condition by recursive dynamic equations. Expressions of reaction force in arbitrary joint in numeric-symbolic form are also derived. Corresponding software which can recognize and manipulate symbols is developed and can be used to generate model and real-time code of robotic dynamics. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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